一种开架式水下机器人控制技术的研究

Study on Motion Control of an Open-frame ROV

为查找江、河、湖、海的各种堤坝的裂缝、破损和隐患等质量问题而设计的框架式结构遥控堤坝检测水下机器人,介绍了堤坝检测水下机器人运动控制技术。首先利用最小二乘法获取机器人水动力系数,并在此基础上建立了四自由度运动仿真系统。在运动控制系统体系结构中对堤坝检测水下机器人从硬件及软件体系结构两方面进行了介绍。硬件采用基于PC104总线的多板卡嵌入式系统,嵌入式控制器采用美国AMD公司的基于ELAN520的单板计算机以及VxWorks高性能实时嵌入式操作系统。对软件控制信息流、运动控制算法及用于定位的船位推算也进行了阐述。

GDROV （General Detection Remotely Operated Vehicle） is a kind of open-frame remotely operated un- derwater vehicle, which is designed for the inspection of cracks, crevices and other potential problems of the dams. The paper gives a particular introduction of the configuration of GDROV＇ s motion control technology. Firstly, a least - square technique is utilized to estimate the hydrodynamic coefficients of the vehicle, and a four DOF simulation system is constructed. Secondly, motion control system architecture of GDROV is introduced, which includes hardware and software structure. The hardware based on PC104 BUS, adopts AMD ELAN520 used as the controller＇ s embedded CPU and all control modules work in VxWorks , which is a powerful real-time operating system. Lastly, Information flow of motion system of GDROV, motion control algorithm and dead-reckoning algorithm are also explained.